← 研踪 PaperTrailCVF · CVPR 2026:cvf:48ca4ae106ddb87170bb9ae2dfffd3a6 · 记录 #1
Test-Time 3D Occupancy Prediction
来源日期（仅到年份） 2026
来源记录日期 2026
雷达观测 2026-11-05 02:00
摘要
Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics can demand hundreds of GPU hours, and once trained, such models struggle to adapt to varying voxel resolutions or novel object categories without extensive retraining. To overcome these limitations, we propose a practical and flexible test-time occupancy prediction framework termed TT-Occ. Our method incrementally constructs, optimizes, and voxelizes time-aware 3D Gaussians from raw sensor streams by integrating vision foundation models (VFMs) at runtime. The flexible representation of 3D Gaussians enables voxelization at arbitrary user-specified resolutions, while the strong generalization capability of VFMs supports accurate perception and open-vocabulary recognition without requiring any network training or fine-tuning. To validate the generality and effectiveness of our framework, we present two variants: a LiDAR-based version and a vision-centric version, and conduct extensive experiments on the Occ3D-nuScenes and nuCraft benchmarks under varying voxel resolutions. Experimental results show that TT-Occ significantly outperforms existing computationally expensive pretrained self-supervised counterparts. Code is available at https://github.com/Xian-Bei/TT-Occ.
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记录 #1 · 2026 · 最新观测版本
Test-Time 3D Occupancy Prediction
Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics can demand hundreds of GPU hours, and once trained, such models struggle to adapt to varying voxel resolutions or novel object categories without extensive retraining. To overcome these limitations, we propose a practical and flexible test-time occupancy prediction framework termed TT-Occ. Our method incrementally constructs, optimizes, and voxelizes time-aware 3D Gaussians from raw sensor streams by integrating vision foundation models (VFMs) at runtime. The flexible representation of 3D Gaussians enables voxelization at arbitrary user-specified resolutions, while the strong generalization capability of VFMs supports accurate perception and open-vocabulary recognition without requiring any network training or fine-tuning. To validate the generality and effectiveness of our framework, we present two variants: a LiDAR-based version and a vision-centric version, and conduct extensive experiments on the Occ3D-nuScenes and nuCraft benchmarks under varying voxel resolutions. Experimental results show that TT-Occ significantly outperforms existing computationally expensive pretrained self-supervised counterparts. Code is available at https://github.com/Xian-Bei/TT-Occ.
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